Discrete-Time Sliding-Mode Control of Four Driving-Steering Wheels Autonomous Vehicle

摘要：

A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper.SEEKUR is a holonomic,all-wether,outdoor robot platform for outdor security,inspection and research.SEEKURs unique shape and omni-directional steering allow truly holonomic movement.A discrete-time nonholonomic model of SEEKUR is used for the design of the controller,instead of the usual continuous-time model,thus avoiding problems caused by the discretization of the continuous-time controller.The effectiveness of the proposed controller is proven by simulation results.

作者: DUMITRASCU Bogdan FILIPESCU Adrian MINZU Viorel VODA Alina MINCA Eugenia

作者单位: Department of Automation and Electrical Engineering University Dunarea de Jos of Galati,,Galati,R Department of Control Systems,GIPSA-lab,Grenoble University Joseph Fourier,38000 Grenoble,France Departament of Automation,Computer Science and Electrical Engineering University Valahia of Targo

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-6

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）